WO2001034961A1 - Procede de commande du demarrage d'un moteur a combustion interne et a injection directe - Google Patents

Procede de commande du demarrage d'un moteur a combustion interne et a injection directe Download PDF

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Publication number
WO2001034961A1
WO2001034961A1 PCT/EP2000/011043 EP0011043W WO0134961A1 WO 2001034961 A1 WO2001034961 A1 WO 2001034961A1 EP 0011043 W EP0011043 W EP 0011043W WO 0134961 A1 WO0134961 A1 WO 0134961A1
Authority
WO
WIPO (PCT)
Prior art keywords
fuel
engine
pressure
starting
injector
Prior art date
Application number
PCT/EP2000/011043
Other languages
English (en)
French (fr)
Inventor
Alain Aubourg
Bertrand Hauet
Francis Tarroux
Original Assignee
Siemens Automotive S.A.
Renault S.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Automotive S.A., Renault S.A. filed Critical Siemens Automotive S.A.
Priority to EP00990598A priority Critical patent/EP1228302B1/fr
Priority to DE60013472T priority patent/DE60013472T2/de
Priority to US10/129,814 priority patent/US6708661B1/en
Priority to JP2001536865A priority patent/JP4507155B2/ja
Publication of WO2001034961A1 publication Critical patent/WO2001034961A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F02D41/06—Introducing corrections for particular operating conditions for engine starting or warming up
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F02D41/06—Introducing corrections for particular operating conditions for engine starting or warming up
    • F02D41/062—Introducing corrections for particular operating conditions for engine starting or warming up for starting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F02D41/06—Introducing corrections for particular operating conditions for engine starting or warming up
    • F02D41/062—Introducing corrections for particular operating conditions for engine starting or warming up for starting
    • F02D41/064—Introducing corrections for particular operating conditions for engine starting or warming up for starting at cold start
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F02D41/06—Introducing corrections for particular operating conditions for engine starting or warming up
    • F02D41/062—Introducing corrections for particular operating conditions for engine starting or warming up for starting
    • F02D41/065—Introducing corrections for particular operating conditions for engine starting or warming up for starting at hot start or restart
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/30—Controlling fuel injection
    • F02D41/3011—Controlling fuel injection according to or using specific or several modes of combustion
    • F02D41/3017—Controlling fuel injection according to or using specific or several modes of combustion characterised by the mode(s) being used
    • F02D41/3023—Controlling fuel injection according to or using specific or several modes of combustion characterised by the mode(s) being used a mode being the stratified charge spark-ignited mode
    • F02D41/3029—Controlling fuel injection according to or using specific or several modes of combustion characterised by the mode(s) being used a mode being the stratified charge spark-ignited mode further comprising a homogeneous charge spark-ignited mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/30—Controlling fuel injection
    • F02D41/3011—Controlling fuel injection according to or using specific or several modes of combustion
    • F02D41/3076—Controlling fuel injection according to or using specific or several modes of combustion with special conditions for selecting a mode of combustion, e.g. for starting, for diagnosing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
    • F02B75/00—Other engines
    • F02B75/12—Other methods of operation
    • F02B2075/125—Direct injection in the combustion chamber for spark ignition engines, i.e. not in pre-combustion chamber
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/30—Controlling fuel injection
    • F02D41/38—Controlling fuel injection of the high pressure type
    • F02D2041/389—Controlling fuel injection of the high pressure type for injecting directly into the cylinder
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2250/00—Engine control related to specific problems or objectives
    • F02D2250/02—Fuel evaporation in fuel rails, e.g. in common rails
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/30—Controlling fuel injection
    • F02D41/38—Controlling fuel injection of the high pressure type
    • F02D41/3809—Common rail control systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/12—Improving ICE efficiencies

Definitions

  • the present invention relates to a method for controlling the starting of an internal combustion engine, with direct injection of a supply fuel supplied to said engine by the present invention. means for pressurizing said fuel.
  • FIG. 1 of the accompanying drawing shows a fuel supply device for an internal combustion engine with direct injection, of a known type comprising a fuel tank 1, an electric pump 2 supplied by the tank 1 and associated with a pressure regulator 3 for delivering fuel to a second pump, through a filter 4, the fuel delivered by the pump 2 being brought to a first pressure level higher than atmospheric pressure, but relatively low, whence the name of "low pressure pump” given to pump 2.
  • the second pump 5 mechanically driven by the engine, still reads the fuel pressure, up to a second level, higher than the first, suitable for supplying fuel injectors 6 1 , 6 2 , 6 3 , 6 4 mounted on a ramp 7 for supplying fuel to the cylinders of the internal combustion direct injection engine (not shown).
  • the pressure of the fuel delivered by the pump 5, called “high pressure pump”, is fixed by an electromechanical regulator 8, such as a solenoid valve controlled by a computer 9.
  • a sensor 10 delivers to the computer 9 a signal representative of the pressure P of the fuel contained in the ramp 7, to allow the computer to regulate the fuel pressure in this ramp at the required predetermined level, of the order of 50 to 100 bars.
  • the computer 9 is commonly constituted by the engine operation management computer, controlling between other injectors 6 ⁇ (i from 1 to 4 in the example shown) and in particular the opening times thereof.
  • the fuel not delivered by the injectors 6i is returned to the tank through a pipe 11,12, brought to atmospheric pressure.
  • this starting takes place with a fuel delivered to the injectors 6 ⁇ of the engine at a relatively low pressure (4 to 5 bars ), quickly reached by the low pressure pump, which, electrically controlled, can be supplied as soon as the vehicle is switched on (contact), before the engine is started.
  • the object of the present invention is precisely to provide a method for controlling the starting of an internal combustion engine with direct injection which does not have these drawbacks and which, in particular, makes it possible to shorten the starting time of the engine at low and very low temperatures, while reducing the production of unburnt hydrocarbons.
  • an amount of fuel to be injected is calculated. in each cylinder of the engine, a duration of the opening time of the injector considered is deduced therefrom, as well as the instant of opening of the injector suitable for allowing the closing of said injector, in phase with an angular position of the crankshaft of the engine advanced by a predetermined angle to that of the instant of ignition of the air / fuel mixture.
  • FIG. 1 is a diagram of a fuel supply device for an internal combustion engine with direct injection described in the preamble to this description, and
  • FIGS. 2 and 3 are sets of graphs illustrating starting modes of this engine at high and low pressure, respectively, of the engine supply fuel.
  • FIG. 2 of the appended drawing there are shown graphs illustrating, during the starting phase of the engine, the evolution of the speed N of this engine, of the pressure P of the fuel delivered to the engine, of the quantity Q of fuel injected and phasing ⁇ of the end of fuel injection, in a situation of starting the engine with a high pressure fuel, according to the present invention.
  • the engine management computer 9 is responsible for executing the strategy for controlling the starting of this engine according to the present invention. It conventionally receives various signals necessary for managing the engine and in particular the signal P delivered by the fuel pressure sensor 10 (see FIG. 1), a signal N representative of the engine speed and a signal T representative of the engine temperature, normally delivered by a sensor (not shown) of the temperature of the cooling water of this engine.
  • the computer 9 also determines the instants for opening and closing the injectors 6i in order to adjust the quantities of fuel injected into the engine cylinders as well as the phasing of these fuel injections and in particular that ⁇ of the end of the injection.
  • the computer 9 is duly programmed to execute the engine start-up strategy according to the present invention, which will now be described in connection with the graphs of FIGS. 2 and 3.
  • the engine speed N changes to a non-zero value and the fuel pressure P begins to increase.
  • the computer 9 performs a strategy of starting the engine in so-called "high" fuel pressure mode.
  • the computer 9 continues to monitor the changes in the fuel pressure P after the instant to.
  • the strategy applied from time ti remains unchanged even if this pressure falls, as shown in solid lines, below the threshold value P s ⁇ , provided however that it does not descend below another predetermined threshold P s2 (in the part of the graph in dotted lines), fixed at 10 bars for example.
  • the computer abandons the strategy of starting the fuel at high pressure described above, the necessary high pressure being unable to be ensured, during the starting phase considered, by the pressurization means used.
  • a situation can arise, for example, from a difficulty in priming the high pressure pump or from a quantity of gasoline to be injected greater than the flow rate of the high pressure pump.
  • the computer 9 then returns to a low fuel pressure start-up strategy, which involves an enrichment of the air / fuel mixture and therefore an increase in the quantity Q of fuel injected, from Qi to Q 2 (see the part of the graph in line). dotted).
  • the phasing of the fuel injections is determined as follows.
  • the computer determines the quantity of gasoline Qi to be injected and a duration ti of opening of the corresponding injector.
  • the computer determines the opening and closing times of the injector so that the injection phase ends before the spark plug of the air / carburan mixture is excited.
  • the instant of this ignition is classically identified, in a corresponding engine cycle at a rotation of 720 ° of the crankshaft associated with the engine (for a four-cylinder engine) by the ignition advance angle ⁇ , measured with respect to the passage at the top dead center of the piston, at the end of the time of compression of the corresponding cylinder.
  • the instant ti of triggering of the injection is determined as a function of the duration Ti of opening of the injector so that the instant of closing of the latter occurs when the crankshaft reaches a position ahead of an angle ⁇ + ⁇ over that of top dead center.
  • phase ⁇ i takes place in intermediate stages, incremented regularly during successive steps of the rotation of the crankshaft of the engine, from 50 ° for example, this to avoid amplifying the drop in fuel pressure.
  • a low pressure starting strategy is then chosen in which, as soon as the vehicle is switched on (contact), the electromechanical regulator 8 (FIG. 1) and the low pressure pump 2 are controlled so as to establish in the fuel circuit a circulation of fuel under the maximum pressure authorized by the pump 2 and the pressure regulator 3.
  • the electromechanical regulator 8 in which the pipe 11 for returning fuel from the injector rail is connected upstream of the regulator 3, it suffices to order the electromechanical regulator 8 at full opening. This command is represented by the broken line in the graph P in FIG. 3.
  • the computer 9 determines a quantity Q 3 of fuel to be injected and the corresponding duration Ti of opening of the injectors.
  • the signals identifying the angular position of the engine i.e. conventionally the signal of a sensor identifying a singularity on a target connected to the crankshaft and that of a sensor giving the position of the shaft to cams.
  • the signals identifying the angular position of the engine i.e. conventionally the signal of a sensor identifying a singularity on a target connected to the crankshaft and that of a sensor giving the position of the shaft to cams.
  • Fuel injection is carried out sequentially, with an open intake valve, in the following cylinders, with a programmable angular offset (corresponding to the number of engine cylinders) relative to the reference point considered, during at least one engine cycle.
  • This process makes it possible, by observing the first occurrence of the "camshaft” or "crankshaft” signal, to make a first injection with an average advance of a half-turn engine (for a four-cylinder engine) compared to the methods of conventional synchronization and therefore save around half a second over the duration of the start-up phase.
  • the injection time i is a function of various conventional parameters: engine speed N, intake air pressure, temperature of the cooling water, fuel pressure, and, according to the present invention, the chosen starting mode: high pressure or low pressure, the quantity of fuel to be injected being advantageously less when starting at high pressure.
  • the computer 9 After leaving the start-up phase, the computer 9 uses conventional maps to determine the quantity of fuel to be injected and the instants of opening and closing of the injectors, these maps having as inputs, for example, the air pressure admitted into the engine and the speed N of this engine.
  • the transition to this quantity of fuel Q mapped is done by progressive decrementation of the quantity calculated for the start-up phase.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
PCT/EP2000/011043 1999-11-10 2000-11-08 Procede de commande du demarrage d'un moteur a combustion interne et a injection directe WO2001034961A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP00990598A EP1228302B1 (fr) 1999-11-10 2000-11-08 Procede de commande du demarrage d'un moteur a combustion interne et a injection directe
DE60013472T DE60013472T2 (de) 1999-11-10 2000-11-08 Verfahren zur regelung des starts einer brennkraftmaschine mit direkteinspritzung
US10/129,814 US6708661B1 (en) 1999-11-10 2000-11-08 Control method for starting a direct injection internal combustion engine
JP2001536865A JP4507155B2 (ja) 1999-11-10 2000-11-08 直噴式内燃機関の始動を制御する方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR99/14146 1999-11-10
FR9914146A FR2800801B1 (fr) 1999-11-10 1999-11-10 Procede de commande du demarrage d'un moteur a combustion interne et a injection directe

Publications (1)

Publication Number Publication Date
WO2001034961A1 true WO2001034961A1 (fr) 2001-05-17

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ID=9551978

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2000/011043 WO2001034961A1 (fr) 1999-11-10 2000-11-08 Procede de commande du demarrage d'un moteur a combustion interne et a injection directe

Country Status (8)

Country Link
US (1) US6708661B1 (ja)
EP (1) EP1228302B1 (ja)
JP (1) JP4507155B2 (ja)
KR (1) KR100707527B1 (ja)
DE (1) DE60013472T2 (ja)
ES (1) ES2228659T3 (ja)
FR (1) FR2800801B1 (ja)
WO (1) WO2001034961A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004027239A1 (de) * 2002-09-12 2004-04-01 Daimlerchrysler Ag Verfahren zum betrieb einer brennkraftmaschine mit kraftstoffdirekteinspritzung
FR2858017A1 (fr) * 2001-09-11 2005-01-28 Toyota Motor Co Ltd Appareil de commande du moment de mise en marche et appareil de commande du moment d'arret d'un moteur a combustion interne, procedes de commande de ceux-ci et supports d'enregistrement
US7481200B2 (en) 2002-07-12 2009-01-27 Cummins Engine Company, Inc. Start-up control of internal combustion engines

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DE10112139A1 (de) * 2001-03-14 2002-09-19 Bosch Gmbh Robert Verfahren und Vorrichtung zur Überwachung eines Sensors
JP4085901B2 (ja) * 2003-07-08 2008-05-14 日産自動車株式会社 筒内噴射式内燃機関の始動制御装置
DE102005003880B4 (de) * 2005-01-24 2015-11-05 Volkswagen Ag Verfahren zur Steuerung einer Kraftstoffdirekteinspritzung und Kraftfahrzeug
JP2006291903A (ja) * 2005-04-13 2006-10-26 Toyota Motor Corp 内燃機関の制御装置
JP2007071061A (ja) * 2005-09-05 2007-03-22 Kokusan Denki Co Ltd エンジン制御装置
DE102006029633B4 (de) 2006-06-28 2019-05-09 Robert Bosch Gmbh Verfahren zum Betreiben eines Kraftstoffsystems einer Brennkraftmaschine
AT502972B1 (de) * 2006-12-07 2008-06-15 Avl List Gmbh Verfahren zum betreiben einer brennkraftmaschine
US8151767B2 (en) * 2007-08-08 2012-04-10 Ford Global Technologies, Llc Fuel control for direct injection fuel system
JP2009115010A (ja) * 2007-11-07 2009-05-28 Denso Corp 筒内噴射式内燃機関の制御装置
GB2468872B (en) * 2009-03-25 2013-07-17 Bamford Excavators Ltd A method of operating a compression ignition engine by altering the fuel injection timing based on sensed engine parameters
DE102009040321B4 (de) * 2009-09-05 2020-08-27 Andreas Stihl Ag & Co. Kg Verfahren zum Betrieb eines Verbrennungsmotors
DE102011011390A1 (de) * 2011-02-17 2012-08-23 Andreas Stihl Ag & Co. Kg Handgeführtes Arbeitsgerät
US9371790B2 (en) * 2012-01-19 2016-06-21 Ford Global Technologies, Llc Methods and systems for controlling fuel injection
US9303577B2 (en) * 2012-12-19 2016-04-05 Ford Global Technologies, Llc Method and system for engine cold start and hot start control
DE102016215116B3 (de) * 2016-08-12 2017-06-08 Continental Automotive Gmbh Verfahren und Vorrichtung zum Starten einer Brennkraftmaschine mit hohem Alkoholanteil im Kraftstoff
JP6670718B2 (ja) 2016-09-28 2020-03-25 日立オートモティブシステムズ株式会社 制御装置
CN108443041B (zh) * 2018-02-07 2020-03-24 北汽福田汽车股份有限公司 启动发动机的方法、装置和车辆

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EP0849455A2 (en) * 1996-12-19 1998-06-24 Toyota Jidosha Kabushiki Kaisha Apparatus and method for injecting fuel in cylinder injection type engines
US5809973A (en) * 1996-08-09 1998-09-22 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Control device and control method for internal-combustion engine
EP0919710A1 (fr) * 1997-11-28 1999-06-02 Renault Procédé de commande d'un moteur à injection directe et allumage commandé

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Publication number Priority date Publication date Assignee Title
DE4020298A1 (de) * 1989-06-29 1991-01-10 Fuji Heavy Ind Ltd Einspritzzeitpunktsteuersystem fuer eine brennkraftmaschine
DE19539885A1 (de) * 1995-05-26 1996-11-28 Bosch Gmbh Robert Kraftstoffversorgungsanlage und Verfahren zum Betreiben einer Brennkraftmaschine
GB2315297A (en) * 1996-07-15 1998-01-28 Fuji Heavy Ind Ltd Combustion control system for changing between homogeneous and stratified charge modes in a direct-injection, spark-ignition i.c. engine
US5809973A (en) * 1996-08-09 1998-09-22 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Control device and control method for internal-combustion engine
EP0849455A2 (en) * 1996-12-19 1998-06-24 Toyota Jidosha Kabushiki Kaisha Apparatus and method for injecting fuel in cylinder injection type engines
EP0919710A1 (fr) * 1997-11-28 1999-06-02 Renault Procédé de commande d'un moteur à injection directe et allumage commandé

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2858017A1 (fr) * 2001-09-11 2005-01-28 Toyota Motor Co Ltd Appareil de commande du moment de mise en marche et appareil de commande du moment d'arret d'un moteur a combustion interne, procedes de commande de ceux-ci et supports d'enregistrement
US7481200B2 (en) 2002-07-12 2009-01-27 Cummins Engine Company, Inc. Start-up control of internal combustion engines
US8166942B2 (en) 2002-07-12 2012-05-01 Cummins Inc. Start-up control of internal combustion engines
WO2004027239A1 (de) * 2002-09-12 2004-04-01 Daimlerchrysler Ag Verfahren zum betrieb einer brennkraftmaschine mit kraftstoffdirekteinspritzung

Also Published As

Publication number Publication date
ES2228659T3 (es) 2005-04-16
EP1228302B1 (fr) 2004-09-01
KR20020068342A (ko) 2002-08-27
EP1228302A1 (fr) 2002-08-07
DE60013472T2 (de) 2005-02-24
FR2800801A1 (fr) 2001-05-11
KR100707527B1 (ko) 2007-04-12
JP2003514186A (ja) 2003-04-15
DE60013472D1 (de) 2004-10-07
FR2800801B1 (fr) 2002-03-01
US6708661B1 (en) 2004-03-23
JP4507155B2 (ja) 2010-07-21

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